KiCad schematic and PCB for maglev projects. See preview in *.pdf files.

In terms of control systems' general theory there're 4 main components: object under control; actuators and drivers; controller itself; feedback loop. Applied to this magnetic levitation system, these components are:

• Object: permanent magnet
• Driver: almost this schematic plus PWM
• Controller: PID algorithm executed by the MCU (see maglev-ti-rtos)
• Feedback: Hall sensor We specify setpoint (desired voltage depended on mutual arrangement of permanent and electro magnets) and get status of the process variable by Hall sensor (feedback value).

Due to lack of some hardware solutions (such as H-bridge) this version of the device can only push and release permanent magnet and can't pull it.